WO2003068342A1 - Planche a roulettes autonome - Google Patents

Planche a roulettes autonome Download PDF

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Publication number
WO2003068342A1
WO2003068342A1 PCT/JP2003/001049 JP0301049W WO03068342A1 WO 2003068342 A1 WO2003068342 A1 WO 2003068342A1 JP 0301049 W JP0301049 W JP 0301049W WO 03068342 A1 WO03068342 A1 WO 03068342A1
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WO
WIPO (PCT)
Prior art keywords
board
skateboard
gravity
center
self
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2003/001049
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English (en)
Japanese (ja)
Inventor
Mitsunari Sukekawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2003068342A1 publication Critical patent/WO2003068342A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards

Definitions

  • the present invention relates to a standing-type moving device using an electric motor or a prime mover, and performs self-stop, forward, backward, direction change, speed adjustment, etc. by moving the center of gravity of a driver on a board body. It relates to a runnable board. Background art
  • Figure 1 shows the structure of this skateboard.
  • the weight of the rear footrest 13 integrally connected to the skateboard main body 11 is measured by the sensor 15, and the weight is measured on the front footrest 12 connected to the skateboard main body.
  • the weight is measured by the sensor 14, the ratio of the front weight to the rear weight is calculated by the control device 17, and the wheel 18 is rotated by moving the power 16 according to the result.
  • the method of turning is to change the direction of the wheels 19 by rotating the front footrests 12 parallel to the ground.
  • FIG. 2 shows a simplified view of this steering mechanism.
  • the tire 21 is supported by a wheel axle 23 via a ball bearing.
  • the strut 25 is integral with the wheel axle and is connected to the board body so that it can rotate about the axis K.
  • the wheel axle 23 has a hole centered on the axis J. These holes are integrally fixed to the board body, and are connected so as to be rotatable about a support axis 24, which is a force axis J, coated with a hard rubber.
  • a support axis 24 which is a force axis J, coated with a hard rubber.
  • the present invention has been made in view of the above problems, and has a method of measuring and calculating the position of the center of gravity of a driver using a simple mechanism, and a self-propelled skateboard for performing speed control and the like based on the result.
  • the purpose is to provide. Disclosure of the invention
  • a self-propelled skateboard of the present invention includes a plurality of strain sensors mounted on an integrated board, a signal amplifier circuit for amplifying an output from the sensor, and a signal amplifying circuit. It is configured to include a circuit for performing calculations, a motor control circuit, a power supply, a motor, a transmission device, a tire, a steering mechanism, and a shock absorbing mechanism.
  • a method of measuring and calculating the strain amount of at least four boards to determine the driver's weight and the four unknowns of the position of the center of gravity and the positions of both feet Is used.
  • the operation mechanism uses a signal from the strain gauge to perform an arithmetic operation for detecting the position of the center of gravity of the driver using an arithmetic circuit, sends a signal corresponding to the operation result to the motor control circuit, and outputs the signal to the motor control circuit.
  • the skateboard By moving the skateboard, the skateboard is moved according to the ratio in the direction where the center of gravity is deviated. This allows the passenger to operate without falling off the skateboard.
  • Steering is a mechanism that changes the direction of the wheels by tilting the skateboard with respect to the ground, making it easier to operate the skateboard.
  • the forward, backward, stop, speed change, and direction change operations can all be controlled by the passenger's center of gravity, and the skateboard can be safely controlled even when the speed increases.
  • the board on which the driver rides is integrated, and the steering mechanism and the strain sensor for measuring the center of gravity are respectively mounted at different locations on the board, so that the structure is simplified. It is also possible to attach a shock absorber between the board and the front and rear steering devices. This can reduce manufacturing costs and increase the rigidity of the device.
  • the self-propelled skateboard of the present invention can be constructed by attaching a sensor and power to a so-called skateboard without power. Further, in the self-propelled skateboard of the present invention, the position for placing the passenger's foot does not need to be particularly fixed within a certain range, so that the operability is improved.
  • the position of the center of gravity of the driver can be detected regardless of the inclination of the skate board, and even if the pressure distribution applied to the sole of the driver changes, the center of gravity of the driver can be accurately determined. Because it can be detected, it is possible to drive on a slope.
  • FIG. 3 (a) is a side view showing a self-propelled skateboard according to one embodiment of the present invention
  • FIG. 3 (b) is also a plan view.
  • FIG. 3 is a block diagram illustrating an arithmetic circuit and a motor control circuit.
  • FIG. 16 is a side view showing a self-propelled skate board according to another embodiment (3) of the present invention.
  • FIG. 36 is a side view showing a self-propelled skateboard according to another embodiment (5) of the present invention.
  • FIG. 36 is a plan view showing a self-propelled skateboard according to another embodiment (6) of the present invention.
  • FIG. 33 is a plan view showing a self-propelled skateboard according to another embodiment (7) of the present invention.
  • FIG. 33 is a plan view showing a self-propelled skateboard according to another embodiment (8) of the present invention.
  • FIG. 3 is a diagram showing the configuration of the device of the present invention.
  • FIG. 3-a is a diagram of the device viewed from the side
  • FIG. 3-b is a diagram of the device viewed from below.
  • the left and right sides of the drawing are the traveling directions of the device.
  • the board 31 is a portion on which the occupant can put his / her foot, and is preferably a substance having sufficient strength and a large amount of strain when the occupant gets on the board. Force due to the balance between strength and elasticity
  • the board 31 is preferably made of a material having a constant elastic coefficient between the wheel bases.
  • it may be a plywood of integrally formed wood.
  • the strain sensors 32 (a), 32 (b), 32 (c) and 32 (d) are for detecting the strain of the board 31 and are bonded to the board 31.
  • the number of strain sensors is four in this example, but the required number varies depending on the configuration of the device. In addition, more than the minimum required number may be installed to reduce measurement and other errors.
  • These sensors are connected to the electric circuit box 35 by signal lines. Further, the electric circuit box 35 is connected to the battery 34 and the moda 33 by a lead wire.
  • the power of the electric motor 33 is transmitted to the tire 36 via the transmission 38.
  • the transmission device may be, for example, one in which gears are attached to a motor and a tire, respectively.
  • the electric motor 33 and the wheel shaft 39 are integrally connected.
  • the wheel shaft 39 has a steering mechanism 30 and is connected to the board 31 via a shock absorber 37.
  • a rubber-like elastic body may be used as the shock absorber.
  • a shock absorbing mechanism can be attached to each wheel.
  • FIG. 2 shows an example of the steering mechanism.
  • the passenger can tilt the skateboard board 11 with respect to the ground to change the direction of the skateboard.
  • Figure 4 is an example showing the configuration of one strain sensor.
  • the strain gauges 41, 42, 43, and 44 are bonded to the plate 45.
  • the board 45 is a plastic substance, a material having a smooth surface and a high thermal conductivity coefficient, such as a thin aluminum board, is preferred, but if the board 31 has a smooth surface, there is no board 45 May be.
  • Two signal lines are connected to each strain gauge, and the resistance between the signal lines is, for example, 120 ⁇ .
  • the strain resistance of the strain gauges increases when the adhered material is distorted. For example, if the plate 4 5 is distorted in the lengthwise direction of the gauge 4 1, the resistance change of the gauge 4 1
  • the rate is several times the rate of change in resistance of the gauge 42.
  • a Wheatstone bridge circuit may be formed using four strain gauges, and a signal may be amplified using an operation amplifier circuit.
  • a noise filter such as a coil is attached to the amplifier circuit to reduce measurement errors due to physical vibration of the device. Arithmetic averaging of measured values can also reduce measurement errors. The measurement error due to the fluctuation of the zero point can be easily reduced by storing the zero point and performing an operation using a digital circuit.
  • FIG. 5 is a block diagram showing the configuration of the electric circuit.
  • the resistance change of the strain sensor 51 is converted into a voltage change by a signal amplification circuit 52 having a Wheatstone bridge circuit, a reference voltage generation circuit, and a voltage-operated amplification circuit, and input to the arithmetic circuit 53 as an analog signal.
  • the arithmetic circuit 53 converts the signal from the signal amplifier circuit 52 into a digital signal using an A / D converter, and calculates the center of gravity of the occupant by arithmetically operating the value.
  • An instruction to accelerate the motor is output to the motor control circuit 54 in the direction in which the position of the center of gravity is largely biased in accordance with the ratio, and the motor 56 is operated.
  • the motor control can give instructions such as reducing the output of the motor when the speed exceeds a predetermined maximum speed, for example. It can be output to the circuit 54.
  • a current of several tens of amps flows through the motor control circuit, it is preferable to connect the battery 55 directly to the battery 55 through a lead wire.
  • the power charging circuit 57 may be an external device.
  • a voltage conversion circuit can be incorporated in the charging circuit to enable charging from multiple power sources such as a commercial AC power source and a single battery power source for automobiles.
  • FIG. 6 is a block diagram showing the motor control circuit and the arithmetic circuit in detail.
  • a clock signal is input from the clock generation circuit 67 to the arithmetic circuit 68 and the motor control circuit 65.
  • the power supply 64 consists of an arithmetic circuit 68, a motor control circuit 65, a power MOSFET group 63, a rotor position detection circuit 62, Connect to force bra 66. If the operating voltages are different, input the appropriate voltage.
  • the voltage signal obtained by amplifying the strain value detected by the strain sensor from lines Al, Bl, Cl, and D1 is input to the arithmetic circuit 68 with a built-in A / D converter.
  • the arithmetic circuit 68 calculates the position of the center of gravity and the like, and outputs a PWM signal, a brake signal, a motor ON signal, and a motor operation direction signal to the motor control circuit 65 from lines E, F, G, and HI, respectively.
  • UH2, VH2 are used so that bidirectional current flows from two of the three coils from the motor control circuit.
  • the current flows to the element of the power MOSFET group 63 to which the ON signal is input, and the current flows to the two-phase coil among Ul, VI, and W1.
  • An IGBT or the like may be used as a switch element.
  • the rotor position needs to be detected, and the rotor one position detection circuit 62 and the motor control IC 65 detect the rotor one position.
  • U2, V2, and W2 are signals of Hall elements arranged at intervals of 120 degrees in electrical angle of the motor, and this signal is amplified by the rotor position detection circuit 62, and U3 Output to V3, W3.
  • a signal from the rotor one position detection circuit is output to the arithmetic circuit 68 to monitor the rotation speed and direction of the motor.
  • a method of detecting the center of gravity by using a plurality of strain sensors will be described below.
  • the passenger places one foot between points A and C, and places his foot between points B and D.
  • Equation 1 below is an equation representing the amount of strain Ra at point A.
  • the distance from the origin 0 to both feet is X,
  • Ra E-K a-Nl- (X-a) Ml g- (Y-) -M2-g + (2L-a) N2
  • Equation 2 is an equation representing the amount of strain Rb at the point B, Rb.
  • Equations 1 and 2 g is the gravity acceleration, E is the longitudinal elastic modulus, and K is the section modulus.
  • Ra-E K (2L-a) Nl- (2L-a-X) Ml g- (2L-a-Y) M2 g + a N2
  • Equation 3 is an equation representing the section modulus K, where W is the board width and H is the board thickness.
  • Equation 4 is an equation representing Ml.
  • Equation 5 is an equation representing M2.
  • Equation 6 is an equation representing N1.
  • Equation 7 is an equation representing N2.
  • N2 — -M-g
  • Equation 8 is obtained from Equations 1, 2, 4, 5, 6, and 7.
  • Equation 9 also Equation 1 below, Equation 2, Equation 4, Equation 5, Equation 6, c [Equation 9] obtained from the formula 7
  • Ra-R b 2a ⁇ L - Z) M ⁇
  • the amount of strain Rc at the point C can be expressed by the following equation (10).
  • Rc-E-K (L-b) Nl- (L-b-X) Ml-g- (Y-L + b) M2g + (L + b) -N2
  • the amount of strain Rd at point D can be expressed by the following equation (11).
  • Rd-EK (L + b) Nl-(L + bX) Ml-g-(YLb) M2 g + (Lb) N2
  • the following formula 12 is the above formula 1, formula 2, formula 4, formula 5, formula 6, It is obtained from Equation 7.
  • Equation 14 is an equation representing the deviation of the passenger's center of gravity c
  • Equation 15 is c obtained from Equations 13 and 14.
  • Equation 16 above is obtained from Equations 8 and 15 above.
  • the expression 16 indicates that even if the fulcrums X and Y change, the position of the center of gravity can be detected accordingly.
  • the resistance change rate of the strain gauge is as follows.For example, when board 300 in Fig. 3 is made of aluminum with a width of 300 mm and a thickness of 10 mm.
  • the arithmetic operation of the above equation (16) is performed by an arithmetic circuit, a signal is sent to a motor control circuit, and the motor is moved. It has a mechanism to move the board. This allows the passenger to operate without falling off the skateboard.
  • the steering is a mechanism that changes the direction of the wheels by tilting the skateboard with respect to the ground, making it easier to operate the skateboard.
  • the skateboard can be safely controlled even if the speed increases, by controlling the passenger's center of gravity in all of the operations of moving forward, backward, stopping, changing speed, and changing direction.
  • the instrument In order for a person to board the instrument safely, first use the values detected by the strain sensors to calculate Equation 8 above. Calculation to detect whether a person is on the device. In addition, the above formula 16 is calculated, and when the difference between Ml and M2 is smaller than a certain value, the setting is made so that the operation of the present apparatus is enabled. This will also detect if the passenger has one foot between A and C and the other foot between B and D.
  • the passenger when boarding the device, the passenger places his / her feet in the specified range and brings the center of gravity near the center of both feet to start operation of the device.
  • the above equation 16 is calculated, and the position of the center of gravity of the occupant is measured. This calculated value indicates a value up to one force, and the motor is output according to the value to accelerate the device. If the center of gravity is deviated in the direction opposite to the direction of travel, apply the brake.
  • the undetermined coefficients are only M, X, Y, and ⁇ , and the number of sensors is four, so we only need to solve the four-way simultaneous equation. Since it is difficult to obtain an exact solution analytically, the actual calculation method is determined by numerical calculation, approximation formula, or empirical formula. In this sense, the above equation 16 can be said to be an approximate equation. However, the number of sensors may be increased to five or more to reduce measurement errors or to expand the range where the foot can be placed. Also, on a slope, it is preferable to determine whether the motor is uphill or downhill, and to provide more power to the motor if the vehicle is uphill, and to reduce the output of the motor when the vehicle is downhill.
  • the slope angle of the slope can be calculated, for example, by calculating the ratio of the output to the motor and the rate of increase in the number of rotations of the motor.
  • the measured center of gravity may be offset from front to back, and the direction may be changed by tilting the skateboard from the ground surface
  • the weight of the occupant is constantly monitored, and It is preferable to stop the device when it gets off the device.
  • FIG. 8 is a view of the configuration of the device as viewed from below.
  • the left and right sides of the drawing are the traveling directions of the device.
  • the strain sensors 82 (a), 82 (b), 82 (c) and 82 (d) are bonded to the board 81.
  • Tire 87 is fixed in direction with respect to board body 81, and has no steering mechanism.
  • This configuration includes a control device 85, a motor 83, a battery 84, a tire 86, and a steering mechanism 80.
  • the position of the center of gravity of the driver can be expressed by Expression 16 above. From this calculation, the motor 83 and the wheel 87 are moved in such a direction that the center of gravity of the driver is deviated so that the skateboard is accelerated according to the ratio.
  • FIG. 9 is a view of the configuration of the apparatus viewed from the side.
  • the left and right sides of the drawing are the traveling directions of the device.
  • the integral board 91 may be shaped so as to form a cavity when viewed from the side as shown in the figure, and the control device 95 and the battery 94 can be attached to the cavity.
  • Strain sensors 92 (a), 92 (b), 92 (c) and 92 (d) are bonded to the board 91.
  • This configuration includes a motor 93, a tire 96, a steering mechanism 90, and an impact absorbing mechanism 97. In this configuration, the direction in which the center of gravity of the driver is deviated is detected by the strain sensor, and the motor 93 is moved and operated so that the skateboard is accelerated in accordance with the ratio.
  • FIG. 10 is a view of the configuration of the apparatus as viewed from the side.
  • the left and right sides of the drawing are the traveling directions of the device.
  • the strain sensors 102 (a), 102 (b), 102 (c), 102 (d) are adhered to the board 101.
  • the driver rides right and left so that the strain sensors 102 (c) and 102 () are on the soles of the feet 100.
  • This configuration includes a steering mechanism 104, a battery 106, and a control device 107.
  • the position of the center of gravity of the driving operator can be expressed by the above-mentioned formula 16. From this calculation, the motor 103 and the wheels are set so that the skateboard is accelerated in a direction in which the center of gravity of the driving operator is deviated according to the ratio. 105 moves.
  • FIG. 11 is a view of the configuration of the device as viewed from below.
  • the left and right sides of the drawing are the traveling directions of the device. Attach strain sensors 1 1 9 (&) and 1 1 9 (b) to board 1 1 1 and motor 1 1 3 (a) to drive left and right wheels 1 16 (&) and 1 16 (b) respectively. And 1 1 3 (b). It is okay to have no steering device between axle 1 18 and board 1 1 1.
  • a notch 114, a control device 115, and a power transmission device 117 (a), 117 (b) are provided.
  • the strain values of sensors 1 (19) (a) and 119 (b) The movement of the center of gravity of the occupant in the left and right directions is measured.
  • the traveling direction is changed in a direction in which the center of gravity is deviated by making a difference between the rotation speeds of the left and right motors.
  • the direction can be changed with a small turning radius.
  • the center of gravity of the driver detected by the strain sensors 112 (a), 112 (b), 112 (c), 112 (d) bonded to the board 111, the center of gravity of the driver is determined. Move and operate the motors 113 (a) and 113 (b) in the biased direction so that the skateboard is accelerated according to the ratio.
  • FIG. 12 is a diagram of the configuration of the device as viewed from the side.
  • the left and right sides of the drawing are the traveling directions of the device.
  • the direction in which the center of gravity of the driver is deviated is detected from the strain value detected by each sensor, and the motor 123 is operated by moving the motor 123 so that the skateboard is accelerated in accordance with the ratio.
  • a battery 124, a tire 126, and a steering mechanism 127 are provided.
  • FIG. 13 is a side view of the configuration of the device.
  • the left and right sides of the drawing are the traveling directions of the device.
  • the driver places his feet on the X and Y positions of the board 131.
  • the strain sensors 132 (a), 132 (b), 132 (c) are bonded to the board 131.
  • the direction in which the driver's center of gravity is deviated is detected from the strain value detected by each sensor, and the motor 133 is moved and operated so as to accelerate the skateboard according to the direction.
  • FIG. 14 is a side view of the configuration of the apparatus.
  • the left and right sides of the drawing are the traveling directions of the device.
  • the wheel 146 is mounted on the center of the board, and the strain sensors 142 (a), 142 (b), 142 (c), 142 (d) are bonded to the board 141.
  • the driver puts his foot between the strain sensors 142 (a) and 142 (c) and between the strain sensors -142 (b) and 142 (d).
  • the motor 143 In the direction where the center of gravity of the driver is biased, the motor 143 is operated by operating the motor 143 so that the skateboard is accelerated according to the proportion.
  • Figure 15 is a view of the self-propelled skateboard seen from above.
  • the left side of the drawing is the traveling direction of the device.
  • a turn signal 153 is mounted on the rear part of the board 151 on which the wheel 155 is mounted, and when the driver steps on the switch 152 (a) or the switch 152 (b), the turn signal 153 is turned on.
  • the brake lamp 154 lights up when the device slows down.
  • It can be used as a convenient means of transportation and transportation, and as a so-called skateboard that plays sports. Further, it is possible to configure an apparatus for measuring a load distribution of a substance on an integrated plate by using a load detection method using a plurality of strain sensors.

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Abstract

L'invention concerne une planche à roulettes autonome comprenant un moyen de déplacement permettant d'exécuter diverses commandes telles qu'un arrêt, un mouvement avant, un mouvement arrière, un réglage de vitesse et un changement de direction sous l'effet du mouvement du poids et de la commande de l'équilibre d'un utilisateur, dans laquelle, pour simplifier une structure et permettre le déplacement sur une pente, des roues de déplacement (36) sont reliées à la partie avant et à la partie arrière d'une planche monocorps (31) par l'intermédiaire de corps (37) absorbant les chocs et de mécanismes de direction (30), l'inclinaison de l'utilisateur monté sur la planche (31) est détectée par des détecteurs de déformation (32) montés sur la planche (31), un moteur (33) est commandé par un contrôleur (35) afin de faire tourner les roues (36) par l'intermédiaire d'un dispositif de transmission (38) pour faire accélérer la planche dans la direction dans laquelle le poids de l'utilisateur est dévié selon le degré d'écart, et la planche (31) est inclinée par les mécanismes de direction (30) afin de changer la direction.
PCT/JP2003/001049 2002-02-18 2003-02-03 Planche a roulettes autonome Ceased WO2003068342A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002040330A JP3493521B2 (ja) 2002-02-18 2002-02-18 自走式スケートボード
JP2002-40330 2002-02-18

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WO2003068342A1 true WO2003068342A1 (fr) 2003-08-21

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